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Temper high-speed acceleration for smoother cruising

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This commit is contained in:
rav4kumar
2026-07-18 09:25:28 -07:00
parent bab628da90
commit 2166414e9d
2 changed files with 6 additions and 6 deletions
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sunnypilot/selfdrive/controls/lib/accel_personality/constants.py
+3 -3
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@@ -23,9 +23,9 @@ PROFILE_CONFIGS = {
ACCEL_PROFILE_MAX_BP = [0.0, 3.0, 10.0, 25.0, 40.0]
ACCEL_PROFILE_MAX_V = {
AccelProfile.eco: [1.55, 1.25, 0.85, 0.50, 0.30],
AccelProfile.normal: [1.70, 1.40, 1.05, 0.65, 0.45],
AccelProfile.sport: [2.00, 1.90, 1.70, 1.00, 0.70],
AccelProfile.eco: [1.55, 1.25, 0.85, 0.40, 0.20],
AccelProfile.normal: [1.70, 1.40, 1.05, 0.55, 0.35],
AccelProfile.sport: [2.00, 1.90, 1.70, 0.90, 0.60],
}
CAP_FILTER_FRAMES = 5
sunnypilot/selfdrive/controls/lib/accel_personality/tests/test_accel_controller.py
+3 -3
View File
@@ -65,9 +65,9 @@ class TestProfiles:
def test_lookup_table_is_explicit_and_tunable(self):
assert ACCEL_PROFILE_MAX_BP == [0.0, 3.0, 10.0, 25.0, 40.0]
assert ACCEL_PROFILE_MAX_V == {
AccelProfile.eco: [1.55, 1.25, 0.85, 0.50, 0.30],
AccelProfile.normal: [1.70, 1.40, 1.05, 0.65, 0.45],
AccelProfile.sport: [2.00, 1.90, 1.70, 1.00, 0.70],
AccelProfile.eco: [1.55, 1.25, 0.85, 0.40, 0.20],
AccelProfile.normal: [1.70, 1.40, 1.05, 0.55, 0.35],
AccelProfile.sport: [2.00, 1.90, 1.70, 0.90, 0.60],
}
@pytest.mark.parametrize("profile", list(AccelProfile))